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41 | ingob | 1 | /*#######################################################################################*/ |
2 | /* !!! THIS IS NOT FREE SOFTWARE !!! */ |
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3 | /*#######################################################################################*/ |
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4 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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5 | // + www.MikroKopter.com |
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6 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
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360 | holgerb | 7 | // + Software Nutzungsbedingungen (english version: see below) |
8 | // + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt - |
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9 | // + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den |
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10 | // + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool |
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11 | // + - nachfolgend Software genannt - nur für private Zwecke zu nutzen. |
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12 | // + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig. |
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41 | ingob | 13 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 14 | // + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im |
15 | // + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu. |
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16 | // + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie |
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17 | // + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden. |
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18 | // + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren |
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19 | // + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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20 | // + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren |
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21 | // + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand |
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22 | // + des Mitverschuldens offen. |
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23 | // + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet. |
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24 | // + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt. |
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25 | // + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern. |
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26 | // + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang |
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27 | // + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt. |
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28 | // + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software. |
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29 | // + #### ENDE DER NUTZUNGSBEDINGUNGEN ####' |
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30 | // + Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar. |
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41 | ingob | 31 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 32 | // + Software LICENSING TERMS |
41 | ingob | 33 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
360 | holgerb | 34 | // + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor - |
35 | // + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware |
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36 | // + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*. |
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37 | // + The Software may only be used with the Licensor's products. |
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38 | // + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this |
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39 | // + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this |
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40 | // + agreement shall be the property of the Licensor. |
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41 | // + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other |
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42 | // + features that can be used to identify the program may not be altered or defaced by the customer. |
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43 | // + The customer shall be responsible for taking reasonable precautions |
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44 | // + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the |
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45 | // + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and |
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46 | // + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product |
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47 | // + liability. However, the Licensor shall be entitled to the defense of contributory negligence. |
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48 | // + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test |
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49 | // + the software for his purpose before any operational usage. The customer will backup his data before using the software. |
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50 | // + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data |
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51 | // + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations. |
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52 | // + *) The territory aspect only refers to the place where the Software is used, not its programmed range. |
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53 | // + #### END OF LICENSING TERMS #### |
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54 | // + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de. |
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41 | ingob | 55 | // ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
56 | |||
57 | #include <string.h> |
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58 | #include "91x_lib.h" |
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59 | #include "waypoints.h" |
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60 | #include "uart1.h" |
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61 | |||
62 | // the waypoints list |
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351 | holgerb | 63 | #define MAX_LIST_LEN 101 |
227 | killagreg | 64 | |
280 | killagreg | 65 | Point_t PointList[MAX_LIST_LEN]; |
66 | u8 WPIndex = 0; // list index of GPS point representig the current WP, can be maximal WPCount |
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67 | u8 POIIndex = 0; // list index of GPS Point representing the current POI, can be maximal WPCount |
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68 | u8 WPCount = 0; // number of waypoints |
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69 | u8 PointCount = 0; // number of wp in the list can be maximal equal to MAX_LIST_LEN |
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283 | holgerb | 70 | u8 POICount = 0; |
41 | ingob | 71 | |
296 | killagreg | 72 | u8 WPActive = FALSE; |
280 | killagreg | 73 | |
74 | u8 PointList_Init(void) |
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41 | ingob | 75 | { |
280 | killagreg | 76 | return PointList_Clear(); |
41 | ingob | 77 | } |
78 | |||
280 | killagreg | 79 | u8 PointList_Clear(void) |
41 | ingob | 80 | { |
81 | u8 i; |
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227 | killagreg | 82 | WPIndex = 0; // real list position are 1 ,2, 3 ... |
83 | POIIndex = 0; // real list position are 1 ,2, 3 ... |
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280 | killagreg | 84 | WPCount = 0; // no waypoints |
283 | holgerb | 85 | POICount = 0; |
280 | killagreg | 86 | PointCount = 0; // no contents |
296 | killagreg | 87 | WPActive = FALSE; |
280 | killagreg | 88 | NaviData.WaypointNumber = WPCount; |
89 | NaviData.WaypointIndex = 0; |
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41 | ingob | 90 | |
280 | killagreg | 91 | for(i = 0; i < MAX_LIST_LEN; i++) |
41 | ingob | 92 | { |
280 | killagreg | 93 | PointList[i].Position.Status = INVALID; |
94 | PointList[i].Position.Latitude = 0; |
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95 | PointList[i].Position.Longitude = 0; |
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96 | PointList[i].Position.Altitude = 0; |
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97 | PointList[i].Heading = 361; // invalid value |
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98 | PointList[i].ToleranceRadius = 0; // in meters, if the MK is within that range around the target, then the next target is triggered |
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99 | PointList[i].HoldTime = 0; // in seconds, if the was once in the tolerance area around a WP, this time defines the delay before the next WP is triggered |
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286 | killagreg | 100 | PointList[i].Type = POINT_TYPE_INVALID; |
280 | killagreg | 101 | PointList[i].Event_Flag = 0; // future implementation |
286 | killagreg | 102 | PointList[i].AltitudeRate = 0; // no change of setpoint |
41 | ingob | 103 | } |
104 | return TRUE; |
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105 | } |
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106 | |||
280 | killagreg | 107 | u8 PointList_GetCount(void) |
41 | ingob | 108 | { |
280 | killagreg | 109 | return PointCount; // number of points in the list |
41 | ingob | 110 | } |
111 | |||
295 | killagreg | 112 | Point_t* PointList_GetAt(u8 index) |
41 | ingob | 113 | { |
295 | killagreg | 114 | if((index > 0) && (index <= PointCount)) return(&(PointList[index-1])); // return pointer to this waypoint |
115 | else return(NULL); |
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116 | } |
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117 | |||
118 | u8 PointList_SetAt(Point_t* pPoint) |
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119 | { |
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120 | // if index is in range |
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296 | killagreg | 121 | if((pPoint->Index > 0) && (pPoint->Index <= MAX_LIST_LEN)) |
41 | ingob | 122 | { |
295 | killagreg | 123 | // check list entry before update |
124 | switch(PointList[pPoint->Index-1].Type) |
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277 | killagreg | 125 | { |
295 | killagreg | 126 | case POINT_TYPE_INVALID: // was invalid |
127 | switch(pPoint->Type) |
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128 | { |
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129 | default: |
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130 | case POINT_TYPE_INVALID: |
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131 | // nothing to do |
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132 | break; |
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133 | |||
134 | case POINT_TYPE_WP: |
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135 | WPCount++; |
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136 | PointCount++; |
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137 | break; |
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138 | |||
139 | case POINT_TYPE_POI: |
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140 | POICount++; |
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141 | PointCount++; |
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142 | break; |
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143 | } |
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144 | break; |
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277 | killagreg | 145 | |
295 | killagreg | 146 | case POINT_TYPE_WP: // was a waypoint |
147 | switch(pPoint->Type) |
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148 | { |
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149 | case POINT_TYPE_INVALID: |
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150 | WPCount--; |
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151 | PointCount--; |
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152 | break; |
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277 | killagreg | 153 | |
295 | killagreg | 154 | default: |
155 | case POINT_TYPE_WP: |
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156 | //nothing to do |
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157 | break; |
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158 | |||
159 | case POINT_TYPE_POI: |
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160 | POICount++; |
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161 | WPCount--; |
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162 | break; |
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163 | } |
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164 | break; |
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165 | |||
166 | case POINT_TYPE_POI: // was a poi |
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167 | switch(pPoint->Type) |
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168 | { |
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169 | case POINT_TYPE_INVALID: |
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170 | POICount--; |
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171 | PointCount--; |
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172 | break; |
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173 | |||
174 | case POINT_TYPE_WP: |
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175 | WPCount++; |
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176 | POICount--; |
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177 | break; |
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178 | |||
179 | case POINT_TYPE_POI: |
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180 | default: |
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181 | // nothing to do |
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182 | break; |
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183 | } |
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184 | break; |
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277 | killagreg | 185 | } |
295 | killagreg | 186 | memcpy(&PointList[pPoint->Index-1], pPoint, sizeof(Point_t)); // copy data to list entry |
187 | NaviData.WaypointNumber = WPCount; |
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188 | return pPoint->Index; |
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41 | ingob | 189 | } |
296 | killagreg | 190 | else return(0); |
41 | ingob | 191 | } |
192 | |||
227 | killagreg | 193 | // returns the pointer to the first waypoint within the list |
280 | killagreg | 194 | Point_t* PointList_WPBegin(void) |
41 | ingob | 195 | { |
277 | killagreg | 196 | u8 i; |
227 | killagreg | 197 | WPIndex = 0; // set list position invalid |
295 | killagreg | 198 | |
283 | holgerb | 199 | if(WPActive == FALSE) return(NULL); |
295 | killagreg | 200 | |
277 | killagreg | 201 | POIIndex = 0; // set invalid POI |
280 | killagreg | 202 | if(PointCount > 0) |
152 | killagreg | 203 | { |
225 | killagreg | 204 | // search for first wp in list |
295 | killagreg | 205 | for(i = 0; i <MAX_LIST_LEN; i++) |
225 | killagreg | 206 | { |
280 | killagreg | 207 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) |
225 | killagreg | 208 | { |
227 | killagreg | 209 | WPIndex = i + 1; |
225 | killagreg | 210 | break; |
211 | } |
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212 | } |
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277 | killagreg | 213 | if(WPIndex) // found a WP in the list |
214 | { |
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280 | killagreg | 215 | NaviData.WaypointIndex = 1; |
277 | killagreg | 216 | // update index to POI |
280 | killagreg | 217 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
296 | killagreg | 218 | else POIIndex = 0; |
277 | killagreg | 219 | } |
220 | else // some points in the list but no WP found |
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221 | { |
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280 | killagreg | 222 | NaviData.WaypointIndex = 0; |
277 | killagreg | 223 | //Check for an existing POI |
295 | killagreg | 224 | for(i = 0; i < MAX_LIST_LEN; i++) |
277 | killagreg | 225 | { |
280 | killagreg | 226 | if((PointList[i].Type == POINT_TYPE_POI) && (PointList[i].Position.Status != INVALID)) |
277 | killagreg | 227 | { |
228 | POIIndex = i + 1; |
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229 | break; |
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230 | } |
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231 | } |
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232 | } |
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152 | killagreg | 233 | } |
277 | killagreg | 234 | else // no point in the list |
152 | killagreg | 235 | { |
277 | killagreg | 236 | POIIndex = 0; |
295 | killagreg | 237 | NaviData.WaypointIndex = 0; |
227 | killagreg | 238 | } |
295 | killagreg | 239 | |
240 | if(WPIndex) return(&(PointList[WPIndex-1])); |
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241 | else return(NULL); |
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41 | ingob | 242 | } |
243 | |||
225 | killagreg | 244 | // returns the last waypoint |
280 | killagreg | 245 | Point_t* PointList_WPEnd(void) |
151 | killagreg | 246 | { |
277 | killagreg | 247 | |
248 | u8 i; |
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227 | killagreg | 249 | WPIndex = 0; // set list position invalid |
277 | killagreg | 250 | POIIndex = 0; // set invalid |
283 | holgerb | 251 | |
280 | killagreg | 252 | if(WPActive == FALSE) return(NULL); |
277 | killagreg | 253 | |
280 | killagreg | 254 | if(PointCount > 0) |
151 | killagreg | 255 | { |
227 | killagreg | 256 | // search backward! |
295 | killagreg | 257 | for(i = 1; i <= MAX_LIST_LEN; i++) |
225 | killagreg | 258 | { |
295 | killagreg | 259 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_WP) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
225 | killagreg | 260 | { |
295 | killagreg | 261 | WPIndex = MAX_LIST_LEN - i + 1; |
225 | killagreg | 262 | break; |
263 | } |
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264 | } |
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277 | killagreg | 265 | if(WPIndex) // found a WP within the list |
266 | { |
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280 | killagreg | 267 | NaviData.WaypointIndex = WPCount; |
268 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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277 | killagreg | 269 | else POIIndex = 0; |
270 | } |
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278 | killagreg | 271 | else // list contains some points but no WP in the list |
277 | killagreg | 272 | { |
273 | // search backward for a POI! |
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295 | killagreg | 274 | for(i = 1; i <= MAX_LIST_LEN; i++) |
277 | killagreg | 275 | { |
295 | killagreg | 276 | if((PointList[MAX_LIST_LEN - i].Type == POINT_TYPE_POI) && (PointList[MAX_LIST_LEN - i].Position.Status != INVALID)) |
277 | killagreg | 277 | { |
295 | killagreg | 278 | POIIndex = MAX_LIST_LEN - i + 1; |
277 | killagreg | 279 | break; |
280 | } |
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281 | } |
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295 | killagreg | 282 | NaviData.WaypointIndex = 0; |
277 | killagreg | 283 | } |
151 | killagreg | 284 | } |
277 | killagreg | 285 | else // no point in the list |
227 | killagreg | 286 | { |
280 | killagreg | 287 | POIIndex = 0; |
288 | NaviData.WaypointIndex = 0; |
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227 | killagreg | 289 | } |
295 | killagreg | 290 | if(WPIndex) return(&(PointList[WPIndex-1])); |
291 | else return(NULL); |
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151 | killagreg | 292 | } |
293 | |||
41 | ingob | 294 | // returns a pointer to the next waypoint or NULL if the end of the list has been reached |
280 | killagreg | 295 | Point_t* PointList_WPNext(void) |
41 | ingob | 296 | { |
227 | killagreg | 297 | u8 wp_found = 0; |
280 | killagreg | 298 | if(WPActive == FALSE) return(NULL); |
227 | killagreg | 299 | |
295 | killagreg | 300 | if(WPIndex < MAX_LIST_LEN) // if there is a next entry in the list |
41 | ingob | 301 | { |
227 | killagreg | 302 | u8 i; |
295 | killagreg | 303 | for(i = WPIndex; i < MAX_LIST_LEN; i++) // start search for next at next list entry |
225 | killagreg | 304 | { |
280 | killagreg | 305 | if((PointList[i].Type == POINT_TYPE_WP) && (PointList[i].Position.Status != INVALID)) // jump over POIs |
225 | killagreg | 306 | { |
227 | killagreg | 307 | wp_found = i+1; |
225 | killagreg | 308 | break; |
309 | } |
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310 | } |
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41 | ingob | 311 | } |
227 | killagreg | 312 | if(wp_found) |
313 | { |
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314 | WPIndex = wp_found; // update list position |
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280 | killagreg | 315 | NaviData.WaypointIndex++; |
316 | if(PointList[WPIndex-1].Heading < 0) POIIndex = (u8)(-PointList[WPIndex-1].Heading); |
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227 | killagreg | 317 | else POIIndex = 0; |
280 | killagreg | 318 | return(&(PointList[WPIndex-1])); // return pointer to this waypoint |
227 | killagreg | 319 | } |
277 | killagreg | 320 | else |
280 | killagreg | 321 | { // no next wp found |
322 | NaviData.WaypointIndex = 0; |
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277 | killagreg | 323 | POIIndex = 0; |
324 | return(NULL); |
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325 | } |
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41 | ingob | 326 | } |
280 | killagreg | 327 | |
328 | void PointList_WPActive(u8 set) |
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329 | { |
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295 | killagreg | 330 | if(set) |
331 | { |
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332 | WPActive = TRUE; |
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333 | PointList_WPBegin(); // uopdates POI index |
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334 | } |
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335 | else |
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336 | { |
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337 | WPActive = FALSE; |
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338 | POIIndex = 0; // disable POI also |
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339 | } |
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280 | killagreg | 340 | } |
41 | ingob | 341 | |
280 | killagreg | 342 | Point_t* PointList_GetPOI(void) |
224 | killagreg | 343 | { |
280 | killagreg | 344 | return PointList_GetAt(POIIndex); |
224 | killagreg | 345 | } |
346 |